激光跟踪仪多基站转站精度模型与误差补偿
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摘要
为实现大空间域激光跟踪仪的高精度测量,本文针对由转站误差导致的激光跟踪仪分时多基站测量精度难保证的问题,提出了基于多站位下单台激光跟踪仪测量误差的转站误差模型与转站参数修正的补偿方法。首先分析了激光跟踪仪测量误差的来源以及具体形式,阐述了激光跟踪仪测量误差影响空间任意点测量精度的具体形式;其次分析了激光跟踪仪的随机测量误差和系统测量误差对多基站转站参数求解精度的影响。在此基础上,建立了考虑随机、系统测量误差的激光跟踪仪多基站转站误差模型和转站参数误差补偿模型。蒙特卡洛仿真结果表明:当激光跟踪仪的长度测量误差为0.5μm/m,角度测量误差为5μm+6μm/m时,最大转站误差为0.174 7mm,补偿后最大转站误差为0.04mm,转站精度提高了77%。分时多基站转站测量实验结果表明:直接转站测量时最大转站误差为0.054 2mm,补偿后转站误差为0.033 1mm,转站精度提升了38.9%。激光跟踪转站补偿后测量精度有明显的提高。
A station-transfer model was established in this study to improve the accuracy of laser tracker station-transfer measurement in larger-scale metrology.The accuracy of the laser tracker is related to the measurement errors,such as random and system measurement errors.First,the source and precise form of measurement error of the laser tracker system was analyzed according to the measurement principle of the laser tracker.Moreover,a spatial point measurement model containing the laser tracker measurement error was established.Second,a station-transfer calculation model was established,which was linked to random and systematic measurement errors.Finally,an error compensation model of the laser tracker station-transfer was established,which is similarly related to the random and system measurement errors,by analyzing the station-transfer calculation model.The results are verified by Monte Carlo simulation and show that when the error of length measurement is 0.5μm/m and the error of angle measurement is 5μm +6μm/m,and the maximum station-transfer error is 0.174 7 mm.Hence,the maximum station-transfer error after compensation is 0.04 mm,and the accuracy of the transfer station is increased by 77%.A multi-base time-sharing station-transfer measurement experiment shows that the direct station-transfer error is 0.054 2 mm,the error of the station-transfer after compensation is 0.033 1 mm,and the accuracy of the transfer station is increased by 38.9%.Thus,the measurement accuracy of the laser tracker station-transfer exhibits significant improvement after compensation.
A station-transfer model was established in this study to improve the accuracy of laser tracker station-transfer measurement in larger-scale metrology.The accuracy of the laser tracker is related to the measurement errors,such as random and system measurement errors.First,the source and precise form of measurement error of the laser tracker system was analyzed according to the measurement principle of the laser tracker.Moreover,a spatial point measurement model containing the laser tracker measurement error was established.Second,a station-transfer calculation model was established,which was linked to random and systematic measurement errors.Finally,an error compensation model of the laser tracker station-transfer was established,which is similarly related to the random and system measurement errors,by analyzing the station-transfer calculation model.The results are verified by Monte Carlo simulation and show that when the error of length measurement is 0.5μm/m and the error of angle measurement is 5μm +6μm/m,and the maximum station-transfer error is 0.174 7 mm.Hence,the maximum station-transfer error after compensation is 0.04 mm,and the accuracy of the transfer station is increased by 77%.A multi-base time-sharing station-transfer measurement experiment shows that the direct station-transfer error is 0.054 2 mm,the error of the station-transfer after compensation is 0.033 1 mm,and the accuracy of the transfer station is increased by 38.9%.Thus,the measurement accuracy of the laser tracker station-transfer exhibits significant improvement after compensation.
引文
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[15]金正琪.提高激光跟踪仪转站测量精度的技术研究[D].杭州:浙江大学,2013.JIN ZH Q.Research on Technology of Improving Measuring Accuracy in Laser Tracker Orientation[D].Hangzhou:Zhejiang University,2013.(in Chinese)
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[19]吴斌,许友,杨峰亭,等.激光跟踪仪绝对测长多边法三维坐标测量系统[J].红外与激光工程,2018,47(8):140-145.WU B,XU Y,YANG F T,et al..3Dcoordinate measuring system based on laser tracking absolute length measurement multilateral method[J].Infrared and Laser Engineering,2018,47(8):140-145.(in Chinese)
[20]李丽娟,赵延辉,林雪竹.加权整体最小二乘在激光跟踪仪转站中的应用[J].光学精密工程,2015,23(9):2570-2577.LI L J,ZHAO Y H,LIN X ZH.Application of WTLSin coordinate transformation of laser tracker[J].Opt.Precision Eng.,2015,23(9):2570-2577.(in Chinese)
[2]樊印久,张福民,曲兴华,等.海洋工程装备制造现场大尺寸组网测量[J].电子测量与仪器学报,2017,31(3):369-376.FAN Y J,ZHANG F M,QU X H,et al..Largescale network measurement in the field of marine engineering equipment manufacturing[J].Journal of Electrounig Measurement and Instrumnetation,2017,31(3):369-376.(in Chinese)
[3]范晓龙,刘韶光,范欢欢.一种基于激光跟踪仪的大飞机外形测绘建模方法[J].航空制造技术,2016(14):69-74.FAN X L,LIU SH G,FAN H H.Large aircraft shape modeling technology from surveying and mapping based on laser tracker[J].Aeronautical Manufacturing Technology,2016(14):69-74.(in Chinese)
[4]张皓琳,林嘉睿,邾继贵.三维坐标转换精度及其影响因素的研究[J].光电工程,2012,39(10):26-31.ZHANG H L,LIN J R,ZHU J G.Three-dimensional coordinate transformation accuracy and its influencing factors[J].Optics and Precision Engineering,2012,39(10):26-31.(in Chinese)
[5]林嘉睿,邾继贵,张皓琳,等.激光跟踪仪测角误差的现场评价[J].仪器仪表学报,2012,33(2):463-468.LIN J R,ZHU J G,ZHANG H L,et al..Field evaluation of laser tracker angle measurement error[J].Chinese Journal of Scientific Instrument,2012,33(2):463-468.(in Chinese)
[6]金涨军,李江雄,俞慈君,等.大尺寸空间测量中转站误差分析与估计[J].浙江大学学报:工学版,2015,49(4):655-661.JIN ZH J,LI J X,YU C J,et al..Registration error analysis and evaluation in large-volume metrology system[J].Journal of Zhejiang University:Engineering Science,2015,49(4):655-661.(in Chinese)
[7]ZHAO G,ZHANG C,JING X,et al..Station-transfer measurement accuracy improvement of laser tracker based on photogrammetry[J].Measurement,2016,94:717-725.
[8]孙海丽,姚连璧,周跃寅,等.激光跟踪仪测量精度分析[J].大地测量与地球动力学,2015,35(1):177-181.SUN H L,YAO L B,ZHOU Y Y,et al..Analysis of measurement accuracy of laser tracker[J].Journal of Geodesy and Geodynamics,2015,35(1):177-181.(in Chinese)
[9]卢荣胜,李万红,劳达宝,等.激光跟踪仪测角误差补偿[J].光学精密工程,2014,22(9):2299-2305.LU R SH,LI W H,LAO D B,et al..Angular error compensation of laser tracker[J].Opt.Precision Eng.,2014,22(9):2299-2305.(in Chinese)
[10]林嘉睿,孟伟,杨凌辉,等.激光跟踪仪的双面互瞄定向[J].光学精密工程,2017,25(10):2752-2758.LIN J R,MENG W,YANG L H,et al..Two face reciprocal orientation for laser tracker[J].Opt.Precision Eng.,2017,25(10):2752-2758.(in Chinese)
[11]刘力,陈新东,熊玲,等.大口径非球面镜检测中激光跟踪仪测角误差研究[J].中国激光,2016,43(11):160-170.LIU L,CHEN X D,XIONG L,et al..Angle error investigation in laser tracker testing large aspheric mirrors[J].Chinese Journal of Lasers,2016,43(11):160-170.(in Chinese)
[12]ACERO R,SANTOLARIA J,PUEO M,et al..Verification of a laser tracker with an indexed metrology platform[J].The International Journal of Advanced Manufacturing Technology,2016,84(1-4):595-606.
[13]尹寿宝.总装精测提高激光跟踪仪转站精度的方法研究[D].哈尔滨:哈尔滨工业大学,2016.YI SH S.Research on Techniques of Improving Measuring Accuracy of Laser Tracker Orientation in General Assembly Precision Measurement[D].Harbin:Harbin Institute of Technology,2016.(in Chinese)
[14]宋凯.大尺寸三坐标测量转站热变形误差补偿优化技术研究[D].杭州:浙江大学,2016.SONG K.Research on the Error Compensation Technology of the Large Size Three Coordinate Measuring Orientation[D].Hangzhou:Zhejiang University,2016.(in Chinese)
[15]金正琪.提高激光跟踪仪转站测量精度的技术研究[D].杭州:浙江大学,2013.JIN ZH Q.Research on Technology of Improving Measuring Accuracy in Laser Tracker Orientation[D].Hangzhou:Zhejiang University,2013.(in Chinese)
[16]张滋黎,朱涵,周维虎.激光跟踪仪转镜倾斜误差的标定及修正[J].光学精密工程,2015,23(5):1205-1212.ZHANF Z L,ZHU H,ZHOU W H.Error calibration and correction of mirror tilt in laser trackers[J].Opt.Precision Eng.,2015,23(5):1205-1212.(in Chinese)
[17]刘万里,欧阳健飞,曲兴华.激光光束入射角度变化对角锥棱镜测量精度的影响[J].光学精密工程,2009,17(2):286-291.LIU W L,OUYANG J F,QU X H.Effect of incident laser beam angle varying on cube corner retro-reflector measurement accuracy[J].Opt.Precision Eng.,2009,17(2):286-291.(in Chinese)
[18]安其昌,张景旭,杨飞,等.GSSMP转动精度的测量与标定[J].红外与激光工程,2018,47(9):257-263.AN Q CH,ZHANG J X,YANG F,et al..Metrology and calibration of GSSMP rotation accuracy[J].Infrared and Laser Engineering,2018,47(9):257-263.(in Chinese)
[19]吴斌,许友,杨峰亭,等.激光跟踪仪绝对测长多边法三维坐标测量系统[J].红外与激光工程,2018,47(8):140-145.WU B,XU Y,YANG F T,et al..3Dcoordinate measuring system based on laser tracking absolute length measurement multilateral method[J].Infrared and Laser Engineering,2018,47(8):140-145.(in Chinese)
[20]李丽娟,赵延辉,林雪竹.加权整体最小二乘在激光跟踪仪转站中的应用[J].光学精密工程,2015,23(9):2570-2577.LI L J,ZHAO Y H,LIN X ZH.Application of WTLSin coordinate transformation of laser tracker[J].Opt.Precision Eng.,2015,23(9):2570-2577.(in Chinese)